Collision recovery control of a foldable quadrotor

Karishma Patnaik, Shatadal Mishra, Zachary Chase, Wenlong Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial missions is desirable to prevent loss of the vehicle and/or payload. We address this problem by proposing a novel foldable quadrotor system which can sustain collisions and recover safely. The quadrotor is designed with integrated mechanical compliance using a torsional spring such that the impact time is increased and the net impact force on the main body is decreased. The post-collision dynamics is analysed and a recovery controller is proposed which stabilizes the system to a hovering location without additional collisions. Flight test results on the proposed and a conventional quadrotor demonstrate that for the former, integrated spring-damper characteristics reduce the rebound velocity and lead to simple recovery control algorithms in the event of unintended collisions as compared to a rigid quadrotor of the same dimension.

Original languageEnglish (US)
Title of host publication2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages418-423
Number of pages6
ISBN (Electronic)9781665441391
DOIs
StatePublished - Jul 12 2021
Event2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 - Delft, Netherlands
Duration: Jul 12 2021Jul 16 2021

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2021-July

Conference

Conference2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
Country/TerritoryNetherlands
CityDelft
Period7/12/217/16/21

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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